diff --git a/boards/rpi-pico/include/gpio_params.h b/boards/rpi-pico/include/gpio_params.h
index fa70647abebbf..ebd0ff233dd8f 100644
--- a/boards/rpi-pico/include/gpio_params.h
+++ b/boards/rpi-pico/include/gpio_params.h
@@ -44,6 +44,15 @@ static const  saul_gpio_params_t saul_gpio_params[] =
 
 #endif
 
+#ifdef BOARD_RPI_PICO_W
+
+/**
+ * @brief    Empty GPIO pin configuration
+ */
+#define SAUL_GPIO_NUMOF 0
+
+#endif
+
 #ifdef __cplusplus
 }
 #endif